技术领域technical field
本发明涉及机器人领域，尤其涉及一种复合型移动机器人及复合型移动机器人的控制系统，通过移动平台与机械臂的结合，实现移动平台及机械臂的协同工作、功能更加多样，且能适用于远/近程作业任务。本发明可用于农业果实采摘、信息采集；物资运输、装/卸载；军事侦察等领域。The invention relates to the field of robots, in particular to a composite mobile robot and a control system for the composite mobile robot. Through the combination of the mobile platform and the mechanical arm, the cooperative work of the mobile platform and the mechanical arm is realized, and the functions are more diverse, and can be applied to Far / near work tasks. The invention can be used in agricultural fruit picking, information collection; material transportation, loading/unloading; military reconnaissance and other fields.
背景技术Background technique
随着移动机器人技术的不断发展，移动机器人已经越来越广泛地应用于工农业生产、军事、医学以及人类日常生活等领域，为人类的生活提供各种便利的服务。而目前，对于工业用机器人而言，多自由度机器人是当今工业领域中最常见的工业机器人的形态之一，常用于工业领域的机械自动化作业，比如，自动装配、喷涂、搬运、焊接等工作。但多自由度工业机器人的安装方式大都是落地式安装和壁挂式安装，其安装都是将机器本体固定，这对于流水线上作业时进行在线追踪无法实现超大行程追踪和大范围作业，而且运动方式比较固定，功能较单一。如果要实现流水线上大范围内物品的运送，则需要专门加设机器人运行轨道且需要多台工业机器人协作才能胜任，这样将会大大增加空间及人力、物力成本，不利于企业的发展。With the continuous development of mobile robot technology, mobile robots have been more and more widely used in industrial and agricultural production, military, medical and human daily life, providing various convenient services for human life. At present, for industrial robots, multi-degree-of-freedom robots are one of the most common forms of industrial robots in today's industrial field. They are often used in mechanical automation operations in the industrial field, such as automatic assembly, spraying, handling, welding, etc. . However, most of the installation methods of multi-degree-of-freedom industrial robots are floor-mounted installations and wall-mounted installations. The installation is to fix the machine body, which cannot achieve super-large stroke tracking and large-scale operations when performing online tracking during assembly line operations. It is relatively fixed and has a single function. If you want to realize the transportation of items in a large area on the assembly line, you need to add a special robot track and need to cooperate with multiple industrial robots to be competent. This will greatly increase the cost of space, manpower and material resources, and is not conducive to the development of the enterprise.
发明内容Contents of the invention
本发明实施例所要解决的技术问题在于，提供一种运动灵活，功能多样、适用性强、工作高效的复合型移动机器人及一种含多种控制方式的所述复合型移动机器人的控制系统。The technical problem to be solved by the embodiments of the present invention is to provide a compound mobile robot with flexible movement, diverse functions, strong applicability and high work efficiency and a control system for the compound mobile robot including multiple control modes.
为了解决上述技术问题，本发明实施例提供了一种复合型移动机器人，包括一移动平台和安装于该移动平台上的机械臂、工控机、传感器系统和供电模块，该移动平台安装有能使该移动平台全向运动的行走装置；该工控机设置于该移动平台上，且与该机械臂和该移动平台电连接，用于控制该移动平台的该行走装置和该机械臂的运动；该传感器系统设于该移动平台和该机械臂上，并与该工控机连接，用于采集周围环境信息以及实现该移动平台的精准定位、导航及避障和辅助该机械臂的任务操作；该供电模块与该工控机连接，并为该工控机、移动平台、机械臂和传感器系统进行供电。In order to solve the above technical problems, the embodiment of the present invention provides a compound mobile robot, which includes a mobile platform, a mechanical arm, an industrial computer, a sensor system and a power supply module installed on the mobile platform. The walking device for the omnidirectional movement of the mobile platform; the industrial computer is arranged on the mobile platform and is electrically connected with the mechanical arm and the mobile platform, and is used to control the movement of the walking device and the mechanical arm of the mobile platform; the The sensor system is set on the mobile platform and the mechanical arm, and is connected with the industrial computer to collect the surrounding environment information and realize the precise positioning, navigation and obstacle avoidance of the mobile platform and assist the task operation of the mechanical arm; the power supply The module is connected with the industrial computer and supplies power to the industrial computer, the mobile platform, the manipulator and the sensor system.
该移动平台上安装的机械臂有两个，该两个机械臂对称设置于该移动平台上，并分别与该工控机连接，通过该工控机实现两个机械臂的协同作业。There are two mechanical arms installed on the mobile platform, and the two mechanical arms are symmetrically arranged on the mobile platform, and are respectively connected with the industrial computer, and the cooperative operation of the two mechanical arms is realized through the industrial computer.
进一步的，该传感器系统包括安装于该机械臂上的摄像头、安装于该移动平台边缘处的摄像头和安装于该移动平台对角处的两个激光雷达和设于该移动平台上用于精准定位该移动平台的北斗定位模块。Further, the sensor system includes a camera installed on the mechanical arm, a camera installed at the edge of the mobile platform, and two laser radars installed at the opposite corners of the mobile platform and set on the mobile platform for precise positioning The Beidou positioning module of the mobile platform.
该移动平台还包括一平台支架和一设于该平台支架上的存储仓，该供电模块设于该存储仓中，该行走装置包含四个安装于该平台支架四个角处的轮子模块和用于控制该四个轮子模块的四个SMT32从机。The mobile platform also includes a platform support and a storage compartment on the platform support, the power supply module is located in the storage compartment, and the walking device includes four wheel modules installed at the four corners of the platform support and For controlling the four SMT32 slaves of the four wheel modules.
进一步的，该移动平台还包括一SMT32主机，该SMT32主机通过一路RS232串口与该工控机相连，该SMT32主机通过四路RS485串口与控制该四个轮子模块的四个SMT32从机相连，并将控制指令传递到四个SMT32从机来控制四个轮子模块的运动。Further, the mobile platform also includes an SMT32 host, which is connected to the industrial computer through one RS232 serial port, and connected to four SMT32 slaves controlling the four wheel modules through four RS485 serial ports. The control commands are transmitted to four SMT32 slaves to control the movement of the four wheel modules.
进一步的，该轮子模块包括一车轮和控制该车轮转向的步进电机以及控制该车轮车速的无刷直流电机，该无刷直流电机通过一无刷直流电机驱动器进行驱动运行，该步进电机通过一步进电机驱动器进行驱动运行。Further, the wheel module includes a wheel, a stepper motor for controlling the steering of the wheel, and a brushless DC motor for controlling the speed of the wheel. The brushless DC motor is driven by a brushless DC motor driver, and the stepper motor is driven by The stepper motor driver performs driving operation.
一种复合型移动机器人控制系统，包括一控制终端、无线通信模块和上述该复合型移动机器人，该无线通信模块设于该移动平台上，该复合型移动机器人的工控机通过该无线通信模块与该控制终端连接，用于接收该控制终端发送的控制指令，并根据该控制指令控制该复合型移动机器人完成操作任务。该无线通信模块可以为Zigbee模块、Z-Wave模块、蓝牙模块以及WiFi模块中的至少一种。A control system for a compound mobile robot, comprising a control terminal, a wireless communication module and the above-mentioned compound mobile robot, the wireless communication module is arranged on the mobile platform, and the industrial computer of the compound mobile robot communicates with the mobile robot through the wireless communication module The control terminal is connected to receive the control instruction sent by the control terminal, and control the composite mobile robot to complete the operation task according to the control instruction. The wireless communication module can be at least one of Zigbee module, Z-Wave module, Bluetooth module and WiFi module.
进一步的，该复合型移动机器人控制系统，还包括一设于该移动平台上的触摸显示器，用户可通过触摸控制方式来控制该复合型移动机器人。Further, the composite mobile robot control system also includes a touch display on the mobile platform, and the user can control the composite mobile robot through touch control.
实施本发明实施例，由于复合型移动机器人中设有全向驱动轮能实现大范围灵活地自由移动；通过移动平台与机械臂的集成和设置的传感器系统使移动平台实现自主避障和导航，同时机械臂能进行精准地视觉抓取工作，在移动平台上的两台机械臂可实现高效的协作，完成复杂任务且工作效率高。此外用户可以通过控制终端实现该复合型移动机器人的控制作业又能通过触摸显示器实现该复合型移动机器人的近距离触摸控制，可用于多种环境下的复杂任务，适用性强。Implementation of the embodiment of the present invention, since the compound mobile robot is equipped with an omnidirectional drive wheel, it can move flexibly and freely in a wide range; through the integration of the mobile platform and the mechanical arm and the sensor system provided, the mobile platform can realize autonomous obstacle avoidance and navigation, At the same time, the robotic arm can perform precise visual grasping work, and the two robotic arms on the mobile platform can achieve efficient cooperation, complete complex tasks and work efficiently. In addition, the user can realize the control operation of the composite mobile robot through the control terminal and realize the short-distance touch control of the composite mobile robot through the touch display, which can be used for complex tasks in various environments and has strong applicability.
附图说明Description of drawings
图1为本发明复合型移动机器人一实施例的结构示意图；Fig. 1 is the structural representation of an embodiment of the composite mobile robot of the present invention;
图2为复合型移动机器人控制系统的结构框图；Fig. 2 is the structural block diagram of compound mobile robot control system;
图3为基于图2的复合型移动机器人控制系统一实施例的结构框图；Fig. 3 is a structural block diagram of an embodiment of the compound mobile robot control system based on Fig. 2;
图4为基于图3的轮子模块1的控制结构框图。FIG. 4 is a block diagram of the control structure based on the wheel module 1 in FIG. 3 .
具体实施方式Detailed ways
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的首选实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容更加透彻全面。In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. A preferred embodiment of the invention is shown in the drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention will be thorough and complete.
需要说明的是，当元件被称为“固设于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。It should be noted that when an element is referred to as being “fixed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
请参阅图1，本发明提供的一种复合型移动机器人10，包括一移动平台100、安装于该移动平台100上左右对称的机械臂201和机械臂202，和放置于该移动平台100上的存储仓103内的一工控机、和为该复合型移动机器人10提供动力源的供电模块，以及安装于两个机械臂上和该移动平台100上的传感器系统。该工控机与该两个机械臂和该移动平台100电连接，用于控制该移动平台100的运动和该两个机械臂的运动。该移动平台100还包括有安装于该平台支架101四个角下方的四个轮子模块，每个轮子模块包括一车轮105，控制该车轮105转速的无刷直流电机109，安装于该平台支架101四个角上方的步进电机111，该步进电机111通过一导电环113与该供电模块电连接并使下方车轮105可以任意角度旋转，实现该移动平台100的全向运动。Referring to Fig. 1, a compound mobile robot 10 provided by the present invention includes a mobile platform 100, a left-right symmetrical mechanical arm 201 and a mechanical arm 202 mounted on the mobile platform 100, and a mobile robot placed on the mobile platform 100. An industrial computer in the storage bin 103 , a power supply module that provides power for the composite mobile robot 10 , and a sensor system installed on the two robotic arms and the mobile platform 100 . The industrial computer is electrically connected with the two mechanical arms and the mobile platform 100, and is used to control the movement of the mobile platform 100 and the two mechanical arms. The mobile platform 100 also includes four wheel modules installed under the four corners of the platform support 101, each wheel module includes a wheel 105, and a brushless DC motor 109 for controlling the rotation speed of the wheel 105 is installed on the platform support 101 The stepper motor 111 above the four corners is electrically connected to the power supply module through a conductive ring 113 and enables the lower wheel 105 to rotate at any angle to realize the omnidirectional movement of the mobile platform 100 .
在该车轮105和该平台支架101之间设有一减震装置107，通过该减震装置107可以使该复合型移动机器人10在不平坦的路面稳定运行。A shock absorbing device 107 is provided between the wheel 105 and the platform support 101 , and the compound mobile robot 10 can run stably on an uneven road through the shock absorbing device 107 .
在本发明实施例中，该供电模块由5块12V的铅酸蓄电池组成，在其他实施例中，该供电模块也可以为充电电池等。该传感器系统由摄像头、激光雷达、北斗定位模块组成。该摄像头为分别安装于该左侧机械臂201上的摄像头2011和设于该右侧机械臂202上的摄像头2021，以及安装于该移动平台100上的摄像头117，该摄像头117有四个，分别安装于平台支架101下边缘的中间；激光雷达分别为设于该移动平台100对角处的两个激光雷达115；该北斗定位模块设于该移动平台100上，用于运动时该移动平台100地精准定位。In the embodiment of the present invention, the power supply module is composed of five 12V lead-acid batteries. In other embodiments, the power supply module can also be a rechargeable battery or the like. The sensor system consists of a camera, laser radar, and Beidou positioning module. The camera is a camera 2011 installed on the left mechanical arm 201, a camera 2021 installed on the right mechanical arm 202, and a camera 117 installed on the mobile platform 100. There are four cameras 117, respectively Installed in the middle of the lower edge of the platform support 101; the laser radars are respectively two laser radars 115 located at the opposite corners of the mobile platform 100; the Beidou positioning module is arranged on the mobile platform 100 for the mobile platform 100 accurate positioning.
该激光雷达115的扫描角度为270°，在两个具有相同扫描角度的激光雷达的作用下将获取到的信息进行耦合叠加可以得到四周的环境信息，以便于该移动平台100对周围环境进行地图构建及自主导航。该四个摄像头117也能够对周围环境进行观察，该四个摄像头117不仅能辅助该两个激光雷达115对环境地图的构建，而且可以在该激光雷达115失效时，保证该移动平台100对周围环境的感知。在该左侧机械臂201和右侧机械臂202的末端分别安装有机械手抓2012和机械手抓2022，在操作过程中，借助该两个摄像头2011和2021，该两个机械手抓可以实现准确的视觉抓取任务，并且在工控机的控制下，该两个机械臂可以实现协同作业，如物件抓取、设备安装及拆卸，拆弹防爆等。The scanning angle of the laser radar 115 is 270°. Under the action of two laser radars with the same scanning angle, the acquired information can be coupled and superimposed to obtain surrounding environmental information, so that the mobile platform 100 can map the surrounding environment. Build and navigate autonomously. The four cameras 117 can also observe the surrounding environment. The four cameras 117 can not only assist the two laser radars 115 in constructing an environmental map, but also ensure that the mobile platform 100 can monitor the surrounding environment when the laser radar 115 fails. perception of the environment. The ends of the left mechanical arm 201 and the right mechanical arm 202 are respectively equipped with a manipulator grasping 2012 and a manipulator grasping 2022. During operation, with the help of the two cameras 2011 and 2021, the two manipulator grasping can realize accurate vision Grabbing tasks, and under the control of the industrial computer, the two robotic arms can achieve collaborative operations, such as object grasping, equipment installation and disassembly, bomb disposal and explosion protection, etc.
请参与图2，所示为本发明复合型移动机器人的控制系统，该复合型移动机器人控制系统包括复合型移动机器人10、控制终端20、触摸显示器30和设于该复合型移动机器人10上的无线通信模块400，该机械臂200、移动平台100和触摸控制器30均与一安装于该复合型移动机器人10上的工控机300连接，该工控机300用于接收、存储、处理来自外部的信息。该控制终端20通过该无线通信模块400向该复合型移动机器人10发送控制指令，通过该工控机300实现对该机械臂200和该移动平台100的运动控制。Please refer to Fig. 2, which shows the control system of the compound mobile robot of the present invention, which comprises a compound mobile robot 10, a control terminal 20, a touch display 30 and a control system located on the compound mobile robot 10 The wireless communication module 400, the mechanical arm 200, the mobile platform 100 and the touch controller 30 are all connected to an industrial computer 300 installed on the composite mobile robot 10, and the industrial computer 300 is used to receive, store, and process external information. The control terminal 20 sends control instructions to the composite mobile robot 10 through the wireless communication module 400 , and the motion control of the mechanical arm 200 and the mobile platform 100 is realized through the industrial computer 300 .
具体的再参阅图3，所示为基于上述复合型移动机器人控制系统的一实施例的结构框图，该复合型移动机器人控制系统中的工控机300，分别与机械臂200、摄像头302、激光雷达303、北斗定位模块304连接，该电源模块301与该工控机300电连接，并为与该工控机300相连接的部件、系统或模块供电。Referring to Fig. 3 again specifically, it is shown as a structural block diagram based on an embodiment of the above-mentioned composite mobile robot control system. 303 . The Beidou positioning module 304 is connected. The power supply module 301 is electrically connected to the industrial computer 300 and supplies power to components, systems or modules connected to the industrial computer 300 .
该控制终端20为一平板电脑，该无线通信模块为WiFi模块307，该平板电脑20通过WiFi方式与该WiFi模块307进行通信，将用户输入到该平板电脑20的控制指令传递至该工控机300，该工控机300接收到来自该平板电脑20的控制指令后控制该机械臂200和该移动平台100的运动，该机械臂200和该移动平台100的运动情况信息通过该工控机300处理后，再通过该WiFi模块307传输到该平板电脑20，待该平板电脑20接收到该运动情况信息后，用户输入下一步的操作控制指令。为保证良好的通信和高效的信息传输效率，该WiFi模块307通过串口方式与该工控机300连接。The control terminal 20 is a tablet computer, and the wireless communication module is a WiFi module 307. The tablet computer 20 communicates with the WiFi module 307 through WiFi, and transmits the control instructions input by the user to the tablet computer 20 to the industrial computer 300. , the industrial computer 300 controls the movement of the mechanical arm 200 and the mobile platform 100 after receiving the control command from the tablet computer 20 , and the movement information of the mechanical arm 200 and the mobile platform 100 is processed by the industrial computer 300 , It is then transmitted to the tablet computer 20 through the WiFi module 307. After the tablet computer 20 receives the exercise information, the user inputs the next operation control instruction. In order to ensure good communication and efficient information transmission, the WiFi module 307 is connected to the industrial computer 300 through a serial port.
可以理解的，在其他实施例中，该控制终端20除平板电脑外，也可以为手机、PC、台式电脑以及其它能发送与接收信息，且具有显示功能的设备。It can be understood that, in other embodiments, the control terminal 20 may also be a mobile phone, a PC, a desktop computer or other devices capable of sending and receiving information and having a display function, in addition to a tablet computer.
可以理解的，在其他实施例中，该无线通信模块400除WiFi模块外，也可以为Zigbee模块、Z-Wave模块和蓝牙模块等其他近距离无线通信模块，相对应的无线通讯方式为ZigBee、Z-Wave和蓝牙等。It can be understood that, in other embodiments, the wireless communication module 400 can also be other short-distance wireless communication modules such as Zigbee module, Z-Wave module and bluetooth module except the WiFi module, and the corresponding wireless communication mode is ZigBee, Z-Wave and Bluetooth etc.
除上述采用的控制终端20外，该复合型移动机器人控制系统还包含有一触摸显示器30，该触摸显示器30直接设于该移动平台100上，并通过VGA口+USB口方式与该工控机300相连。该控制终端20和该触摸显示器30具有很好的人机交互功能，可以保证该复合型移动机器人10与用户间的交互性。In addition to the control terminal 20 adopted above, the composite mobile robot control system also includes a touch display 30, which is directly arranged on the mobile platform 100, and is connected to the industrial computer 300 through a VGA port+USB port . The control terminal 20 and the touch display 30 have good human-computer interaction functions, which can ensure the interaction between the compound mobile robot 10 and the user.
在实际的运动控制和任务操作过程中，用户可以根据实际的工作环境自行选择采用该控制终端20进行近距离控制或采用触摸显示器30进行直接地触摸控制，在该控制终端20和该触摸显示器30中都有相对应的便于对该复合型移动机器人10进行控制的APP应用软件，且均可以显示出该复合型移动机器人10的运动速度、电源模块的供电情况、摄像头和激光雷达所采集到的周围环境等信息，便于用户通过显示的信息发送控制指令，实现对该移动平台100和该机械臂200的精确控制。In the actual motion control and task operation process, the user can choose to use the control terminal 20 for close-range control or use the touch display 30 for direct touch control according to the actual working environment. There is a corresponding APP application software that is convenient for controlling the composite mobile robot 10, and all of them can display the moving speed of the composite mobile robot 10, the power supply situation of the power supply module, and the data collected by the camera and laser radar. Information such as the surrounding environment is convenient for the user to send control instructions through the displayed information, so as to realize precise control of the mobile platform 100 and the mechanical arm 200 .
对该移动平台100的控制，主要是对该移动平台的行走装置306的运动控制，该行走装置306包括4个轮子模块(1-4)，该行走装置306与一SMT32(控制)主机305相连，该SMT32主机305通过一路RS232串口与该工控机300相连。The control of this mobile platform 100 is mainly the motion control of the traveling device 306 of this mobile platform, and this traveling device 306 comprises 4 wheel modules (1-4), and this traveling device 306 links to each other with a SMT32 (control) main frame 305 , the SMT32 host 305 is connected to the industrial computer 300 through one RS232 serial port.
请再参阅图4，所示为基于上述复合型移动机器人控制系统中轮子模块1的控制结构框图，其他3个轮子模块与轮子模块1一致，该轮子模块1包含有一SMT32从机308，一无刷直流电机驱动器309、无刷直流电机310、步进电机驱动器311、步进电机312和绝对值编码器313，该SMT32从机308通过一路RS485串口与该SMT32主机305相连。在运动时，该工控机300接收到来自该平板电脑20的运动控制指令后，该运动控制指令经该SMT主机305处理后，传送到该SMT从机308，该SMT从机308控制该无刷直流电机驱动器309工作使该无刷直流电机310工作，从而可以使轮子前后运动；同时可以控制该步进电机驱动器311工作使该步进电机312工作来控制轮子的转向。通过该绝对值编码器313和该步进电机驱动器311，该SMT32从机308可以对该步进电机312进行PID伺服控制。在该无刷直流电机310和该步进电机312的共同作用下，可以实现该轮子模块1的全向运动，从而使该复合型移动机器人10运动灵活，具有各种运动方式，如前后、左右、曲线、各轮子模块分别绕圆运动、整体绕圆运动等多种运动方式。在复合型移动机器人10静止时，该移动平台100的四个轮子各转动45°，呈现出两对角轮子成一直线，另一对角轮子成一直线的同时与另外两个轮子直线垂直，这样可以很好地保证该复合型移动机器人10的禁止刹车状态。Please refer to Fig. 4 again, shown is the control structure block diagram based on the wheel module 1 in the above-mentioned compound mobile robot control system, other 3 wheel modules are consistent with the wheel module 1, and this wheel module 1 includes a SMT32 slave 308, one without Brush DC motor driver 309, brushless DC motor 310, stepper motor driver 311, stepper motor 312 and absolute encoder 313, the SMT32 slave 308 is connected to the SMT32 host 305 through one RS485 serial port. When in motion, after the industrial computer 300 receives the motion control command from the tablet computer 20, the motion control command is processed by the SMT master 305 and sent to the SMT slave 308, and the SMT slave 308 controls the brushless The DC motor driver 309 works to make the brushless DC motor 310 work, so that the wheels can move forward and backward; simultaneously, the stepper motor driver 311 can be controlled to make the stepper motor 312 work to control the steering of the wheels. Through the absolute encoder 313 and the stepper motor driver 311 , the SMT32 slave 308 can perform PID servo control on the stepper motor 312 . Under the joint action of the brushless DC motor 310 and the stepping motor 312, the omnidirectional movement of the wheel module 1 can be realized, so that the compound mobile robot 10 can move flexibly and have various movement modes, such as front and rear, left and right , curves, each wheel module moves around a circle separately, and the whole circle moves in various ways. When the composite mobile robot 10 is at rest, the four wheels of the mobile platform 100 each rotate 45°, showing that the two diagonal wheels are in a straight line, and the other diagonal wheel is in a straight line and perpendicular to the other two wheels, which can The braking prohibition state of the composite mobile robot 10 is well guaranteed.
综上所述，本发明的复合型移动机器人及复合型移动机器人控制系统实施例中，该复合型移动机器人10的两个机械臂201和202可以实现协同作业，工作空间广且工作效率高；该移动平台100具有能全向运动的轮子模块，使该移动平台运动灵活，该移动平台100中的该减震装置107具有很好的减震性能，能保证该移动平台在不平坦路面的稳定运行。该复合型移动机器人10集成了该两个机械臂201和202，以及该移动平台100的功能特点，使得该复合型移动机器人10功能多样、运行范围广、且能适用于多种环境下的操作任务；该复合型移动机器人控制系统中的该控制终端20和该触摸显示器30均具有良好的人机交互性，在一些特殊环境下不仅可以实现近距离控制，而且当环境要求及操作要求很好的情况下，可以利用该触摸显示器30进行直接接触式控制。当然上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明主要技术方案的精神实质所做的修饰，都应涵盖在本发明的保护范围之内。To sum up, in the embodiments of the composite mobile robot and the composite mobile robot control system of the present invention, the two mechanical arms 201 and 202 of the composite mobile robot 10 can realize cooperative operations, have a wide working space and high work efficiency; The mobile platform 100 has a wheel module that can move in all directions, so that the mobile platform can move flexibly. The shock absorbing device 107 in the mobile platform 100 has good shock absorption performance, which can ensure the stability of the mobile platform on uneven roads. run. The composite mobile robot 10 integrates the two mechanical arms 201 and 202, and the functional characteristics of the mobile platform 100, so that the composite mobile robot 10 has multiple functions, a wide operating range, and can be applied to operations in various environments. task; the control terminal 20 and the touch display 30 in the compound mobile robot control system have good human-computer interaction, and in some special environments not only can realize close-range control, but also when the environmental requirements and operation requirements are very good In the case of , the touch display 30 can be used for direct touch control. Of course, the above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical solutions of the present invention shall fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201810777333.3ACN108818493A (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot and compound Mobile Robot Control System |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810777333.3ACN108818493A (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot and compound Mobile Robot Control System |
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| CN108818493Atrue CN108818493A (en) | 2018-11-16 |
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| CN201810777333.3APendingCN108818493A (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot and compound Mobile Robot Control System |
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